A cylindrical image mosaic method based on fast camera calibration in multi-scene is proposed to solve the problems of scene limitation and complex calibration process in image mosaic using camera calibration parameter. Firstly, the accurate corner feature of checkerboard calibration board is used to make it in the overlapping field of view of two adjacent images. Then, the image sequence is pre-processed by corner extraction, precision and matching, so that the registration parameters between the images to be stitched can be solved accurately and quickly. After that, the cylindrical projection is used to maintain the visual consistency of the images, and the multi-band fusion is used to retain the details of the images. Subsequently, the images are stitched using registration parameters obtained by calibration. Finally, the whole system is built on a low-power embedded platform to accomplish fast calibration and mosaic process based on calibration parameters in multi-scene. The experiment results show that the proposed method can accomplish camera calibration quickly and accurately in indoor and tunnel scenarios, and the image mosaic process is time-consuming. Meanwhile, it can ensure better stitching accuracy and imaging effect, and has strong robustness.